CN108674619A - A kind of regulating device and method of underwater robot operation posture - Google Patents
A kind of regulating device and method of underwater robot operation posture Download PDFInfo
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- CN108674619A CN108674619A CN201810392999.7A CN201810392999A CN108674619A CN 108674619 A CN108674619 A CN 108674619A CN 201810392999 A CN201810392999 A CN 201810392999A CN 108674619 A CN108674619 A CN 108674619A
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- 230000001105 regulatory effect Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 171
- 230000005484 gravity Effects 0.000 claims abstract description 54
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000006835 compression Effects 0.000 claims description 19
- 238000007906 compression Methods 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000002459 sustained effect Effects 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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Abstract
The invention discloses regulating devices and method that a kind of underwater robot runs posture, including：Pedestal；Support base；Balance mechanism；Turntable；Bearing platform is arranged on the telescopic end of three telescoping mechanisms；Center of gravity micro-adjusting mechanism is arranged at the top of bearing platform, a sliding block is provided on center of gravity micro-adjusting mechanism, an elevating mechanism is arranged on sliding block；Several load-carrying blocks, it is slidably disposed in bearing platform upper end, and load-carrying block frame is located at center of gravity micro-adjusting mechanism upper end, and load-carrying block center, which is run through, opens up pass through aperture, the internal diameter of through hole is not less than the outer diameter of elevating mechanism lift side, and the lift side of elevating mechanism selectively stretches in through hole；And control mechanism, it is connect respectively with telescoping mechanism and center of gravity micro-adjusting mechanism.The present invention can solve the technical issues of underwater robot posture is not easy to adjust with the center of gravity and posture of active accommodation robot to meet robot work requirements.
Description
Technical field
The present invention relates to underwater robot technical fields, it is more particularly related to which a kind of underwater robot is run
The regulating device and method of posture.
Background technology
Underwater robot has very wide application prospect, this be also for many years each state all greatly developing underwater
The reason of people's technology.Underwater robot can replace artificial in the waters of highly dangerous environment, contaminated environment and zero visibility
Long working under water is commonly equipped with the devices such as Sonar system, video camera, headlamp and mechanical arm, energy on underwater robot
Real-time video, sonar image are provided, mechanical arm can pick up weight, and underwater robot is in oil development, maritime affair law enforcement evidence obtaining, science
It is used widely in the fields such as research and military affairs
However, when executing underwater, water surface task, near flow, wave and disturbance of shoving, and other including lash ship
The surge that ship takes up, the rotating vortex etc. in flow make underwater robot deviate setting course, wave, monitor video mould often
Paste, cannot keep set depth etc..Underwater robot kinetic stability, that is, the ability of original state is voluntarily returned to after being disturbed is
The premise of underwater robot course control system and depth control system precision.If underwater robot automatic stabilisation performance is too poor,
Then propeller necessary frequent start-stop, positive and negative rotation keeps course and the depth of setting to change thrust size and Orientation.Not only can
Propeller is caused to damage, electric energy is excessively consumed, will also increase the disturbance of surrounding fluid, be further exacerbated by underwater robot not
Stablize, or even cannot keep course and depthkeeping.
In the prior art, patent：Space flight grade ball bar detecting system discloses a kind of completely new spatial simulation locomotory apparatus, but
The technological means accurately adjusted about center of gravity is not disclosed, underwater robot can not be suitable for.
For this purpose, being badly in need of a kind of regulating device and method of underwater robot operation posture.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide regulating devices and method that a kind of underwater robot runs posture, with stabilization
The underwater posture of underwater robot, in favor of robot normal operation, while can be with the center of gravity and appearance of active accommodation robot
State solves the technical issues of underwater robot posture is not easy to adjust to meet robot work requirements.
In order to realize these purposes and other advantages according to the present invention, a kind of underwater robot operation posture is provided
Regulating device, including:
Pedestal is mounted in robot, and the base center protrusion is provided with a positioning rotating shaft, and the positioning rotating shaft is outer with one heart
The pedestal in week offers a circular groove；
Support base, centre bottom open up a positioning circular hole, and the support base of the concentric periphery of positioning round orifice, which protrudes above, to be set
It is equipped with a sliding rail, the sliding rail is rotatably arranged in the circular groove, and the positioning rotating shaft rotation is plugged in the setting circle
Kong Zhong；
Balance mechanism is inclined outwardly the elastic component being arranged on the support base by several bottoms and constitutes, several elasticity
Part is symmetrically distributed in the support base peripheral surface；
Turntable is arranged in the balance mechanism upper end, and the turntable periphery is provided with a linkage mechanism, the turntable
Outside is provided with a driving mechanism being drivingly connected with the linkage mechanism, and being distributed setting on the turntable, there are three telescopic machines
Structure, three telescoping mechanism lower rotations are arranged on the turntable, wherein the first telescoping mechanism and the second telescoping mechanism
Bottom is arranged at the both ends of one center line of the turntable, and third telescoping mechanism bottom is arranged in turntable center line side
The turntable at the top of, line and the turntable center line at third telescoping mechanism bottom centre and the turntable center
Vertically；
Bearing platform is arranged on the telescopic end of three telescoping mechanisms, wherein first telescoping mechanism and second stretches
The telescopic end of mechanism is fixed at the both ends of one center line of the bearing platform, and the telescopic end rotation of the third telescoping mechanism is set
It sets in the bearing platform bottom of bearing platform center line side, the telescopic end center of the third telescoping mechanism is held with described
The line at the centers Chong Tai and the bearing platform central axis；
Center of gravity micro-adjusting mechanism is arranged at the top of the bearing platform, a sliding block, the cunning is provided on the center of gravity micro-adjusting mechanism
One elevating mechanism is set on block；
Several load-carrying blocks, are slidably disposed in the bearing platform upper end, and the load-carrying block frame be located at it is described heavy
Heart micro-adjusting mechanism upper end, load-carrying block center are not less than the lifting through pass through aperture, the internal diameter of the through hole is opened up
The lift side of the outer diameter of mechanism lift side, the elevating mechanism selectively stretches in the through hole；And
Control mechanism is connect with the telescoping mechanism and center of gravity micro-adjusting mechanism respectively.
Preferably, the balance mechanism includes：
Four connecting seats, are symmetrically distributed in support base upper surface periphery, and one the is tiltedly installed on the inside of the connecting seat
One card interface；
Four elastic components, the elastic component are compression spring, and the both ends of the compression spring are respectively arranged with a buckle, and the compression spring bottom is logical
Cross described snap connection in first card interface；
Wherein, the angle of inclination of the compression spring is between 10 °~50 °.
Preferably, turntable lower surface periphery is correspondingly arranged there are four the second card interface, and the compression spring top passes through
It is described to snap connection in second card interface；Wherein, the turntable and the support base are a disc structure, described turn
Dynamic platform is arranged with the support base parallel interval, and pair at the turntable center, support base center and four connecting seats
Title center is on a straight line.
Preferably, the linkage mechanism is an annular rack, and the teeth of the annular rack are arranged downward in the rotation
Platform periphery bottom, the turntable periphery are provided with a circular ring shape angle displacement measurement ruler, on the circular ring shape angle displacement measurement ruler
Sliding sleeve is equipped with one first reading head, and the output end of first reading head is connect with the control mechanism.
Preferably, the driving mechanism is fixed in the robot, and one is provided in the drive shaft of the driving mechanism
A and annular rack meshed gears, first reading head bottom is fixed in the driving mechanism.
Preferably, three telescoping mechanism bottoms are respectively arranged with one first swing seat, and the telescoping mechanism bottom is logical
It crosses first swing seat to be rotatably arranged on the turntable, the bearing platform bottom is provided with one second swing seat, described
The telescopic end of third telescoping mechanism is rotatably connected on the bearing platform bottom, each swing seat by second swing seat
Swaying direction it is consistent.
Preferably, it is provided with one second reading head on the second telescoping mechanism side wall, one is provided on the turntable
Semicircle angle displacement measurement ruler, second reading head are slidably located on the semicircle angle displacement measurement ruler, and described second
The output end of reading head is connect with the control mechanism；
Wherein, plane residing for the swing of second telescoping mechanism is consistent with plane residing for the semicircle angle displacement measurement ruler,
And second reading head pendulum radius it is consistent with the semicircle radius of angle displacement measurement ruler.
Preferably, several mounting holes are provided through on the bearing platform, the bearing platform two bottom sides are respectively arranged with
The telescopic end of a positioning hole, first telescoping mechanism and the second telescoping mechanism is fixed in the location hole.
Preferably, the center of gravity micro-adjusting mechanism includes：
Uniaxial slide unit is arranged in the bearing platform upper surface, and the excessively described bearing platform center of the uniaxial slide unit；
Straight-line displacement measuring scale is arranged on the slider side wall, and sliding sleeve is equipped with one the on the straight-line displacement measuring scale
The output end of three reading heads, the third reading head is connect with the control mechanism；And
Elevating mechanism is arranged on the sliding block of the uniaxial slide unit, and the third reading head is fixed on the sliding block.
Preferably, a supporting rack is respectively arranged on the bearing platform of the uniaxial slide unit both sides, on support frame as described above
It is longitudinally spaced to be provided with several guide rods, the guide rod higher than the uniaxial slide unit certain distance, the guide rod with it is described
Uniaxial slide unit is arranged in parallel, and the guide rod of the single shaft slide unit both sides corresponds, several load-carrying block stacked on top settings,
Each load-carrying block and the guide rod of sustained height position correspond, and load-carrying block both sides laterally open up respectively
One through-hole, each load-carrying block are set in by the through-hole on the guide rod of both sides, are provided on the load-carrying block side wall
Positioning protrusion, is vertically installed with a positioning seat on the bearing platform on the outside of the single shaft slide unit center, longitudinal on the positioning seat
It is provided with several limited bayonets with positioning protrusion cooperation.
A kind of adjusting method of underwater robot operation posture, includes the following steps：
Step 1: the target for calculating regulating device center of gravity according to the bias of posture residing for robot and targeted attitude deviates position
It sets；
Step 2: the collapsing length and swing angle of bearing platform are sequentially adjusted according to the target deviation position of regulating device center of gravity,
The swing arm of force of bearing platform center of gravity is adjusted with this；
Step 3: whole bearing platform center of gravity is deflected to the target deviation position, the posture of robot is adjusted with this；
Step 4: the posture to robot is finely adjusted, by adjusting the load-carrying number of blocks and position for participating in adjustment process, by machine
Device people posture is accurately adjusted to targeted attitude.
The present invention includes at least following advantageous effect：
1, by adjusting the swing angle of bearing platform and distance, the center of gravity of adjustment underwater robot can be facilitated, and then adjust water
The lower underwater posture of robot, regulated efficiency and precision are high；
2, it effectively offsets caused by flow impacts robot and shakes；
3, robot center of gravity can be finely adjusted by load-carrying block, further improve robot pose is adjusted it is accurate
Degree.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the structural schematic diagram of apparatus of the present invention；
Fig. 2 is the explosive view of apparatus of the present invention；
Fig. 3 is the mounting structure schematic diagram of telescoping mechanism；
Fig. 4 is the structural schematic diagram of center of gravity micro-adjusting mechanism.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figs 1-4, a kind of regulating device of underwater robot operation posture, pedestal 700 are fixedly mounted on robot
In, it is preferred that pedestal 700 and robot center, 700 center of pedestal protrusion are provided with a positioning rotating shaft 710, the positioning
The pedestal 700 of 710 concentric periphery of shaft offers a circular groove, for providing guiding for the rotation of support base 500.
500 centre bottom of support base opens up a positioning circular hole, on the support base 500 of the concentric periphery of positioning round orifice
Protrusion be provided with a sliding rail 510, the sliding rail 510 is rotatably arranged in the circular groove, in order to support base 500 along
Circular groove rotates on pedestal 700, and the rotation of the positioning rotating shaft 710 is plugged in the positioning round orifice, as center of rotation.
Balance mechanism is inclined outwardly the elastic component being arranged on the support base 500 by several bottoms and constitutes, several described
Elastic component 600 is symmetrically distributed in 500 peripheral surface of the support base.Specifically, in the balance mechanism, four connecting seats
610 are symmetrically distributed in 500 upper surface periphery of the support base, and 610 inside of the connecting seat is tiltedly installed with one first card interface；
Four elastic components 600 are respectively arranged with a buckle using compression spring, the both ends of the compression spring, and the compression spring bottom passes through described
It snaps connection in first card interface, in order to install fixation.
The setting of turntable 300 is set in the balance mechanism upper end specifically, 300 lower surface periphery of the turntable corresponds to
Second card interface there are four setting, the compression spring top is snapped connection by described in second card interface, to turntable
300 are connected with support base 500 by four compression springs.In the present embodiment, the angle of inclination of the compression spring is at 15 °, when robot exists
When underwater work, when flow causes impact to make robot centre-of gravity shift and attitude offsets in robot, due to four compression spring structures
At resilient suspension structure, when robot pose deviates, turntable 300 and the structure mounted on upper end are protected under effect of inertia
Original position is held, at this point, turntable 300 and the center of gravity mounted on upper end formation are biased to the deviation with robot center of gravity on the contrary, being applied to
One reset force of robot body, avoids robot body posture from further deviating, and reset force promotes the posture of robot body
It resets, to stabilize the posture of robot, reduces influence of the flow to robot pose, effectively offset flow and robot is rushed
Shaking caused by hitting.
Wherein, the turntable 300 and the support base 500 are a disc structure, the turntable 300 and the support
500 parallel intervals of seat are arranged, under stationary state, 300 center of the turntable, 500 center of support base and four connecting seats
610 symmetrical centre is on a straight line.
Under the self-adjusting effect of compression spring, robot can be maintained to a stable posture, simultaneously because compression spring
Angle of inclination is at 15 °, and under normal condition, turntable 300 is kept under static state, and parallel with support base 500.Therefore, exist
In the case that external force reduces, turntable 300 can reset to the position parallel with support base 500, avoid turntable 300 or so disorderly
It shakes.
300 periphery of the turntable is provided with a linkage mechanism, and 300 outside of the turntable is provided with one and the linkage
The driving mechanism 800 that mechanism is drivingly connected, to drive turntable 300 to rotate.Specifically, in the present embodiment, the linkage mechanism
Teeth for an annular rack 340, the annular rack 340 are arranged downward in 300 periphery bottom of the turntable, and the drive
Motivation structure 800 is fixed in the robot, in the drive shaft of the driving mechanism 800 setting there are one with the annular rack
340 meshed gears 810, when driving mechanism 800 rotates, you can drive turntable to turn by gear 810 and annular rack 340
It is dynamic, since turntable is supported on by balance mechanism on support base, to when driving mechanism 800 drives turntable rotation, lead to
Overbalance mechanism drives support base to be rotated on pedestal 700 so that pedestal 700 and its above section rotation.
300 periphery of the turntable is provided with a circular ring shape angle displacement measurement ruler 400, the circular ring shape angle displacement measurement ruler
Sliding sleeve is equipped with one first reading head 820 on 400, and the output end of first reading head 820 is connect with control mechanism.Described
One reading head, 820 bottom is fixed in the driving mechanism 800, in the present embodiment, angle displacement measurement and linear position measuring machine
Structure all uses active ball bar displacement measurement system, and when driving mechanism driving turntable rotation, the first reading head 820 is in circular ring shape
Angle displacement measurement ruler 400 slides, and the rotational angle of turntable can be measured by the first reading head, feeds back to control mechanism
In, with the amount of spin of feedback control turntable and position.
There are three telescoping mechanisms, three telescoping mechanism lower rotation settings to exist for distribution setting on the turntable 300
On the turntable 300, wherein the first telescoping mechanism 310 and 320 bottom of the second telescoping mechanism are arranged in the turntable 300
The turntable in 300 center line side of the turntable is arranged in the both ends of one center line, 330 bottom of third telescoping mechanism
300 tops, the line and 300 center line of the turntable of 330 bottom centre of third telescoping mechanism and 300 center of the turntable
Vertically, as shown in Figure 3.
Bearing platform 100 is arranged on the telescopic end of three telescoping mechanisms, wherein 310 He of the first telescoping mechanism
The telescopic end of second telescoping mechanism 320 is fixed at the both ends of 100 1 center line of the bearing platform, the third telescoping mechanism
330 telescopic end is rotatably arranged on 100 bottom of the bearing platform of 100 center line side of the bearing platform, and three described flexible
The installation site in bearing platform of mechanism telescopic end is with three telescoping mechanism bottoms in the installation site of turntable corresponding one
It causes.In the telescopic end center of the third telescoping mechanism 330 and the line at 100 center of the bearing platform and the bearing platform 100
Heart line is vertical.
Three telescoping mechanism bottoms are respectively arranged with one first swing seat 350, and the telescoping mechanism bottom passes through institute
It states the first swing seat 350 to be rotatably arranged on the turntable 300 so that telescoping mechanism can be 350 turns around the first swing seat
Dynamic, 100 bottom of the bearing platform is provided with one second swing seat 140, extends on the telescopic end of the third telescoping mechanism 330
One rotation axis 331, rotation axis 331 are rotatably installed in the second swing seat 140, and the telescopic end of third telescoping mechanism 330 passes through institute
It states the second swing seat 140 and is rotatably connected on 100 bottom of the bearing platform, the swaying direction of each swing seat is consistent.
100 two bottom sides of the bearing platform are respectively arranged with a positioning hole 110,120,310 He of the first telescoping mechanism
The telescopic end of second telescoping mechanism 320 is fixed in the location hole so that when the first telescoping mechanism 310 and the second telescoping mechanism
When 320 swing, bearing platform 100 synchronizes overturning and swings.
It is provided with one second reading head 322 on second telescoping mechanism, 320 side wall, is provided on the turntable 300
Half round angle displacement measuring scale 321, second reading head 322 are slidably located in the semicircle angle displacement measurement ruler 321
On, the output end of second reading head 322 is connect with the control mechanism.Wherein, the swing of second telescoping mechanism 320
Residing plane is consistent with plane residing for the semicircle angle displacement measurement ruler 321, and 322 pendulum radius of the second reading head with it is described
The radius of semicircle angle displacement measurement ruler 321 is consistent, when the second telescoping mechanism 320 is swung, drives the second reading head 322 around half
Round angle displacement measuring scale 321 rotates synchronously, you can swing angle and the position for measuring the second telescoping mechanism 320 feed back to control
In mechanism processed, accurately controlled with the swing angle to the second telescoping mechanism 320.
The setting of center of gravity micro-adjusting mechanism is at 100 top of the bearing platform, specifically, uniaxial slide unit in the center of gravity micro-adjusting mechanism
150 are arranged in 100 upper surface of the bearing platform, and 150 excessively described 100 center of bearing platform of the uniaxial slide unit, uniaxial slide unit 150
Be arranged bearing platform 100 one diametrically, straight-line displacement measuring scale 151 is arranged on 152 side wall of sliding block of uniaxial slide unit 150,
Sliding sleeve is equipped with a third reading head 154 on the straight-line displacement measuring scale 151, and the third reading head 154 is fixed on described
On sliding block, the output end of the third reading head 154 is connect with the control mechanism, and sliding block 152 is along on uniaxial slide unit 150
Guide groove 155 moves linearly, and with the movement of sliding block 152, drives third reading head 154 same on straight-line displacement measuring scale 151
Moved further is measured displacement distance and the position of sliding block, fed back in control mechanism, accurately controlled with the displacement distance to sliding block.
Elevating mechanism 153 is arranged on the sliding block 152 of the uniaxial slide unit 150, with 152 synchronizing moving of sliding block.
Several load-carrying blocks 900 are slidably disposed in 100 upper end of the bearing platform, and 900 frame of load-carrying block
It is located at center of gravity micro-adjusting mechanism upper end, 900 center of load-carrying block, which is run through, opens up pass through aperture 910, the through hole 910
Internal diameter is not less than the outer diameter of 153 lift side of the elevating mechanism, and the lift side of the elevating mechanism 153 selectively stretches to described
In through hole 910.
Specifically, being respectively arranged with a supporting rack 160, the branch on the bearing platform of 150 both sides of the single shaft slide unit
Longitudinally spaced on support 160 to be provided with several guide rods 161, the guide rod 161 is higher than 150 1 spacing of the uniaxial slide unit
From the guide rod 161 is arranged in parallel with the uniaxial slide unit 150, and the guide rod 161 of 150 both sides of the single shaft slide unit is one by one
It is corresponding, several 900 stacked on top of load-carrying block settings, the guiding of each the load-carrying block 900 and sustained height position
Bar 161 corresponds, and 900 both sides of load-carrying block laterally open up a through-hole respectively, and each load-carrying block 900 passes through the through-hole
It is set on the guide rod 161 of both sides.
Positioning protrusion 920, the load-bearing on the outside of 150 center of the single shaft slide unit are provided on 900 side wall of load-carrying block
It is vertically installed with a positioning seat 170 on platform 100, is vertically arranged with and several matches with the positioning protrusion 920 on the positioning seat 170
The limited bayonet of conjunction, when normal condition, positioning protrusion 920 is fastened in limited bayonet so that each load-carrying block 900 keeps stacking
At the center of bearing platform, when needing the posture to robot to finely tune, according to the amplitude of required adjustment and robot center of gravity
Position, to select to move a certain distance wherein at least one load-carrying block on bearing platform, to complete to the micro- of bearing platform center of gravity
It adjusts.
Several mounting holes 130 are provided through on the bearing platform 100, it is entire to adjust for installing polylith bearing platform
The weight of bearing platform.
Control mechanism is connect with the telescoping mechanism and center of gravity micro-adjusting mechanism respectively, the fortune for controlling each actuating mechanism
Row process.
Specifically, the posture of adjustment robot needs the position of centre of gravity by adjusting entire robot to carry out band mobile robot appearance
The variation of state, and the weight of regulating device is certain, when robot pose deviates with targeted attitude, according to bias
It calculates the target deviation position of regulating device center of gravity, that is, deviates the arm of force.
Because the weight of entire regulating device all concentrates on bearing platform 100, therefore adjusts the arm of force of regulating device center of gravity
Namely adjust the swing arm of force of bearing platform 100, that is, pendulum of the adjustment regulating device center of gravity relative to robot body center of gravity
The swing arm of force of power arm, adjustment bearing platform 100 can change the arm of force of regulating device center of gravity, to change adjustment robot
The deflection torque of posture adjusts the posture of robot by adjusting deflection torque.
The adjustment process that bearing platform 100 swings the arm of force is as follows：
The length of the arm of force is swung come the first telescoping mechanism of synchronous adjustment and the second telescoping mechanism according to calculated bearing platform 100
Length, telescoping mechanism can be uniaxial mechanical arm, hydraulic arm etc., so as to adjust the wobble length of bearing platform 100, normal condition
When, the first telescoping mechanism and the second telescoping mechanism are vertical with turntable, and weighing unit and turntable keeping parallelism, load-carrying block 900 are protected
Hold at bearing platform center so that the center of gravity of each component of regulating device in a straight line, generally also with the center of gravity of robot body
In on a straight line.When the length of first telescoping mechanism and the second telescoping mechanism is made adjustment, third telescoping mechanism makes identical length
The adjustment of degree so that bearing platform 100 and the relative position of turntable remain unchanged.
The arm of force of 100 center of gravity of bearing platform, that is, the swing angle of bearing platform 100 are then adjusted, it is as follows to adjust process：
The length of the arm of force is swung according to the wobble length of bearing platform 100 and calculated bearing platform 100 to put to adjust bearing platform 100
Dynamic angle, swing angle is bigger, and the arm of force of 100 center of gravity of bearing platform is bigger.First determine the arm of force direction, by driving mechanism come
Turntable 300 and bearing platform rotation, the first reading head is driven to feed back rotational angle so that the swaying direction of bearing platform and required power
Arm direction is on same straight line, and the length of the first telescoping mechanism and the second telescoping mechanism is kept to remain unchanged, and then controls the
Three telescoping mechanisms stretch out or retraction, if third telescoping mechanism stretches out, bearing platform side oscillation in third telescoping mechanism, inside refers to
Towards turntable center side；If third telescoping mechanism bounces back, bearing platform is toward side oscillation outside third telescoping mechanism.First is flexible
Mechanism and the second telescoping mechanism synchronous hunting, the second reading head are measured swing angle, are fed back in control mechanism, until being adjusted to
Target angle, adjustment process terminate.After the arm of force of 100 center of gravity of bearing platform determines, the torque that 100 gravity of bearing platform generates is also just true
It is fixed, drive robot body to adjust posture by the torque that 100 gravity of bearing platform generates, the adjustment 100 center of gravity arm of force of bearing platform
Process, and adjustment robot body posture process, bearing platform 100 swing the arm of force adjustment terminate, by robot adjust to
Targeted attitude.
After the arm of force adjustment of 100 center of gravity of bearing platform, possibly the posture of robot can not accurately be adjusted to target
Posture, it is also necessary to when making fine tuning to the posture of robot, that is, the torque generated to 100 gravity of bearing platform makes fine tuning,
Method for trimming is as follows：
The position of sliding block is adjusted, the position of third reading head feedback slide block is participated according to the size of required fine tuning torque to determine
The weight and its arm of force of the load-carrying block 900 of adjustment process, then according to the weight of the calculated load-carrying block 900 for participating in adjustment process
Amount, that is to say that the quantity of load-carrying block 900, control slide block are moved to 900 origin bottom of load-carrying block, control the lift side of elevating mechanism
Rising stretches in the through hole 910, until the lift side height of elevating mechanism is just high with the load-carrying block 900 of corresponding number
Degree is consistent, and according to the fine tuning arm of force of load-carrying block 900, driving sliding block is moved to target location, that is to say the load-carrying of quantification
Block 900 is moved to the target location on uniaxial slide unit 150, to the 900 centre-of gravity shift arm of force of load-carrying block for participating in adjustment process
Adjustment finishes, and other load-carrying blocks 900 are maintained at load table center, to complete the fine tuning to robot body posture, further
Improve the accuracy adjusted to robot pose.
From the above mentioned, the present invention can facilitate adjustment underwater robot by adjusting the swing angle and distance of bearing platform
Center of gravity, and then adjust the underwater posture of underwater robot, regulated efficiency and precision are high；It is effectively supported by balance mechanism simultaneously
The flow that disappears is shaken caused by being impacted to robot；Further, robot center of gravity can be finely adjusted by load-carrying block, into one
Step improves the accuracy adjusted to robot pose.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of regulating device of underwater robot operation posture, which is characterized in that including：
Pedestal is mounted in robot, and the base center protrusion is provided with a positioning rotating shaft, and the positioning rotating shaft is outer with one heart
The pedestal in week offers a circular groove；
Support base, centre bottom open up a positioning circular hole, and the support base of the concentric periphery of positioning round orifice, which protrudes above, to be set
It is equipped with a sliding rail, the sliding rail is rotatably arranged in the circular groove, and the positioning rotating shaft rotation is plugged in the setting circle
Kong Zhong；
Balance mechanism is inclined outwardly the elastic component being arranged on the support base by several bottoms and constitutes, several elasticity
Part is symmetrically distributed in the support base peripheral surface；
Turntable is arranged in the balance mechanism upper end, and the turntable periphery is provided with a linkage mechanism, the turntable
Outside is provided with a driving mechanism being drivingly connected with the linkage mechanism, and being distributed setting on the turntable, there are three telescopic machines
Structure, three telescoping mechanism lower rotations are arranged on the turntable, wherein the first telescoping mechanism and the second telescoping mechanism
Bottom is arranged at the both ends of one center line of the turntable, and third telescoping mechanism bottom is arranged in turntable center line side
The turntable at the top of, line and the turntable center line at third telescoping mechanism bottom centre and the turntable center
Vertically；
Bearing platform is arranged on the telescopic end of three telescoping mechanisms, wherein first telescoping mechanism and second stretches
The telescopic end of mechanism is fixed at the both ends of one center line of the bearing platform, and the telescopic end rotation of the third telescoping mechanism is set
It sets in the bearing platform bottom of bearing platform center line side, the telescopic end center of the third telescoping mechanism is held with described
The line at the centers Chong Tai and the bearing platform central axis；
Center of gravity micro-adjusting mechanism is arranged at the top of the bearing platform, a sliding block, the cunning is provided on the center of gravity micro-adjusting mechanism
One elevating mechanism is set on block；
Several load-carrying blocks, are slidably disposed in the bearing platform upper end, and the load-carrying block frame be located at it is described heavy
Heart micro-adjusting mechanism upper end, load-carrying block center are not less than the lifting through pass through aperture, the internal diameter of the through hole is opened up
The lift side of the outer diameter of mechanism lift side, the elevating mechanism selectively stretches in the through hole；And
Control mechanism is connect with the telescoping mechanism and center of gravity micro-adjusting mechanism respectively.
2. the regulating device of underwater robot operation posture as described in claim 1, which is characterized in that the balance mechanism packet
It includes：
Four connecting seats, are symmetrically distributed in support base upper surface periphery, and one the is tiltedly installed on the inside of the connecting seat
One card interface；
Four elastic components, the elastic component are compression spring, and the both ends of the compression spring are respectively arranged with a buckle, and the compression spring bottom is logical
Cross described snap connection in first card interface；
Wherein, the angle of inclination of the compression spring is between 10 °~50 °.
3. the regulating device of underwater robot operation posture as claimed in claim 2, which is characterized in that the turntable following table
Face periphery is correspondingly arranged there are four the second card interface, and the compression spring top is snapped connection by described in second card interface
In；Wherein, the turntable and the support base are a disc structure, and the turntable is set with the support base parallel interval
It sets, and the symmetrical centre at the turntable center, support base center and four connecting seats is on a straight line.
4. the regulating device of underwater robot as claimed in claim 3 operation posture, which is characterized in that the linkage mechanism is
The teeth of one annular rack, the annular rack are arranged downward in turntable periphery bottom, the turntable periphery setting
There is a circular ring shape angle displacement measurement ruler, sliding sleeve is equipped with one first reading head on the circular ring shape angle displacement measurement ruler, and described the
The output end of one reading head is connect with the control mechanism；
The driving mechanism is fixed in the robot, in the drive shaft of the driving mechanism setting there are one with the annular
Rack meshed gears, first reading head bottom are fixed in the driving mechanism.
5. the regulating device of underwater robot operation posture as claimed in claim 4, which is characterized in that three telescopic machines
Structure bottom is respectively arranged with one first swing seat, and the telescoping mechanism bottom is rotatably arranged on described by first swing seat
On turntable, the bearing platform bottom is provided with one second swing seat, and the telescopic end of the third telescoping mechanism passes through described
Two swing seats are rotatably connected on the bearing platform bottom, and the swaying direction of each swing seat is consistent.
6. the regulating device of underwater robot operation posture as claimed in claim 5, which is characterized in that second telescopic machine
It is provided with one second reading head on structure side wall, half round angle displacement measuring scale is provided on the turntable, described second reads
Several are slidably located on the semicircle angle displacement measurement ruler, and output end and the control mechanism of second reading head connect
It connects；
Wherein, plane residing for the swing of second telescoping mechanism is consistent with plane residing for the semicircle angle displacement measurement ruler,
And second reading head pendulum radius it is consistent with the semicircle radius of angle displacement measurement ruler.
7. the regulating device of underwater robot operation posture as claimed in claim 6, which is characterized in that passed through on the bearing platform
It wears and is equipped with several mounting holes, the bearing platform two bottom sides are respectively arranged with a positioning hole, first telescoping mechanism and
The telescopic end of two telescoping mechanisms is fixed in the location hole.
8. the regulating device of underwater robot operation posture as claimed in claim 7, which is characterized in that the center of gravity freqency fine adjustment machine
Structure includes：
Uniaxial slide unit is arranged in the bearing platform upper surface, and the excessively described bearing platform center of the uniaxial slide unit；
Straight-line displacement measuring scale is arranged on the slider side wall, and sliding sleeve is equipped with one the on the straight-line displacement measuring scale
The output end of three reading heads, the third reading head is connect with the control mechanism；And
Elevating mechanism is arranged on the sliding block of the uniaxial slide unit, and the third reading head is fixed on the sliding block.
9. the regulating device of underwater robot operation posture as claimed in claim 8, which is characterized in that the single shaft slide unit two
It is respectively arranged with a supporting rack on the bearing platform of side, it is longitudinally spaced on support frame as described above to be provided with several guide rods, it is described
Guide rod is arranged in parallel higher than the uniaxial slide unit certain distance, the guide rod with the uniaxial slide unit, the single shaft slide unit
The guide rod of both sides corresponds, several load-carrying block stacked on top settings, each load-carrying block and sustained height position
The guide rod correspond, and load-carrying block both sides laterally open up a through-hole respectively, and each load-carrying block passes through described logical
Hole is set on the guide rod of both sides, and positioning protrusion, the single shaft slide unit center are provided on the load-carrying block side wall
It is vertically installed with a positioning seat on the bearing platform in outside, several and positioning protrusion is vertically arranged on the positioning seat and is coordinated
Limited bayonet.
10. a kind of adjusting method of underwater robot operation posture as claimed in claim 9, which is characterized in that including following
Step：
Step 1: the target for calculating regulating device center of gravity according to the bias of posture residing for robot and targeted attitude deviates position
It sets；
Step 2: the collapsing length and swing angle of bearing platform are sequentially adjusted according to the target deviation position of regulating device center of gravity,
The swing arm of force of bearing platform center of gravity is adjusted with this；
Step 3: whole bearing platform center of gravity is deflected to the target deviation position, the posture of robot is adjusted with this；
Step 4: the posture to robot is finely adjusted, by adjusting the load-carrying number of blocks and position for participating in adjustment process, by machine
Device people posture is accurately adjusted to targeted attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392999.7A CN108674619B (en) | 2018-04-27 | 2018-04-27 | A kind of regulating device and method of underwater robot operation posture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392999.7A CN108674619B (en) | 2018-04-27 | 2018-04-27 | A kind of regulating device and method of underwater robot operation posture |
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| CN108674619A true CN108674619A (en) | 2018-10-19 |
| CN108674619B CN108674619B (en) | 2019-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810392999.7A Expired - Fee Related CN108674619B (en) | 2018-04-27 | 2018-04-27 | A kind of regulating device and method of underwater robot operation posture |
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Cited By (4)
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| CN110455442A (en) * | 2019-08-23 | 2019-11-15 | 中国海洋大学 | A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method |
| CN111185748A (en) * | 2020-02-19 | 2020-05-22 | 聆创(上海)机电技术有限公司 | Direction adjusting mechanism |
| CN111976889A (en) * | 2020-07-24 | 2020-11-24 | 浙江广盛环境建设集团有限公司 | Ocean mapping device's mounting bracket |
| CN112834285A (en) * | 2021-03-16 | 2021-05-25 | 马珂 | Water environment detects uses sewage collection equipment |
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| CN111976889A (en) * | 2020-07-24 | 2020-11-24 | 浙江广盛环境建设集团有限公司 | Ocean mapping device's mounting bracket |
| CN112834285A (en) * | 2021-03-16 | 2021-05-25 | 马珂 | Water environment detects uses sewage collection equipment |
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| Publication number | Publication date |
|---|---|
| CN108674619B (en) | 2019-10-11 |
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Effective date of registration: 20200727 Address after: Room 113-114, Building 2, Yangchenghu International Science and Technology Pioneering Park, 116 Chengyang Road, Xiangcheng Economic and Technological Development Zone, Suzhou City, Jiangsu Province Co-patentee after: JIANGSU University OF SCIENCE AND TECHNOLOGY Patentee after: JIANGSU TAEMS ROBOT TECHNOLOGY Co.,Ltd. Address before: Room 113-114, Building 2, Yangcheng Lake International Science Creation Garden, 116 Chengyang Road, Suzhou Xiangcheng Economic Development Zone, Suzhou Municipal District, Jiangsu Province Patentee before: JIANGSU TAEMS ROBOT TECHNOLOGY Co.,Ltd. |
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